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Sensorless force feedback joystick control for teleoperation of construction equipment

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International Journal of Precision Engineering and Manufacturing Aims and scope Submit manuscript

Abstract

This paper aims to develop an innovative approach named sensorless force feedback joystick control for teleoperation of construction equipment. First, a force sensorless supervisory controller is designed with two advanced modules: a neural network-based environment classifier to estimate environment characteristics without requiring a force sensor and, a fuzzy-based force feedback tuner to generate properly a force reflection to the joystick. Second, two local robust adaptive controllers are simply built using neural network and Lyapunov stability condition to ensure desired task performances at both master and slave sites. A teleoperation system is setup to demonstrate the applicability of the proposed approach.

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Abbreviations

F h :

operator command

F dr :

desired reflected force

P dr :

desired reflected pressure

X m :

joystick shaft rotation

X ds :

slave desired movement

λ p :

conversion ratio between joystick and slave commands

u s :

slave controller output

X s :

slave actuation

F e :

loading force from environment

k e :

environment stiffness

c e :

environment damping coefficient

g k :

scaling factor of environment stiffness

g c :

scaling factor of environment damping coefficient

k f :

force feedback gain

λ f :

conversion ratio between Fdr and Pdr

u m :

master controller output

y desired :

master/slave desired response

y actual :

master/slave response

e :

local controller control error

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Authors and Affiliations

  1. Warwick Manufacturing Group (WMG), University of Warwick, Coventry, CV4 7AL, UK

    Truong Quang Dinh, James Marco & Paul Jennings

  2. Korea Construction Equipment Technology Institute, 36, Sandan-ro, Gunsan-si, Jeollabuk-do, 54004, South Korea

    Jong Il Yoon

  3. School of Mechanical Engineering, University of Ulsan, 93, Daehak-ro, Nam-gu, Ulsan, 44610, South Korea

    Kyoung Kwan Ahn & Cheolkeun Ha

Authors
  1. Truong Quang Dinh
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  2. Jong Il Yoon
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  3. James Marco
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  5. Kyoung Kwan Ahn
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  6. Cheolkeun Ha
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Correspondence to Jong Il Yoon.

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Dinh, T.Q., Yoon, J.I., Marco, J. et al. Sensorless force feedback joystick control for teleoperation of construction equipment. Int. J. Precis. Eng. Manuf. 18, 955–969 (2017). https://doi.org/10.1007/s12541-017-0113-5

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  • DOI: https://doi.org/10.1007/s12541-017-0113-5

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